Implantation system and method for cochlear implant microelectrode with remote motion center control

Abstract

An implantation system for a cochlear implant microelectrode with remote motion center control includes: an electrode implantation device including at least one pair of forceps, and a distal end part of the forceps is used as a remote motion center; a six-degree-of-freedom motion mechanism; an input unit, configured to input a surgical trajectory; and a control unit, configured to calculate, a displacement of the forceps in a first body coordinate system, an offset compensation of each motion execution unit at the front end at a corresponding degree of freedom in the first body coordinate system, and an offset compensation of each motion execution unit at the rear end at a corresponding degree of freedom in a second body coordinate system, and drive, based on the corresponding offset compensation and a preset motion priority, the forceps and the corresponding motion execution unit to act.

1 . An implantation system, for a cochlear implant microelectrode with a remote motion center control, comprising:
 an electrode implantation device comprising at least one pair of forceps, wherein an electrode to be implanted is clamped by the at least one pair of forceps, and wherein a distal end part of the at least one pair of forceps is used as a remote motion center;   a six-degree-of-freedom motion mechanism having a front end and a rear end, wherein the front end is connected to the electrode implantation device, each of the front end and the rear end comprises at least one motion execution unit, a first body coordinate system is established based on the at least one pair of forceps and the front end, and a second body coordinate system is established based on the rear end;   an input unit; configured to input a surgical trajectory comprising multiple pieces of target information of the at least one pair of forceps, wherein the target information comprises, in a world coordinate system, a target position of the remote motion center and a target pose of the at least one pair of forceps; and   a control unit configured to calculate, based on current target information and next target information of the at least one pair of forceps, first offset compensations of the at least one pair of forceps and the at least one motion execution unit at the front end at a corresponding degree of freedom in the first body coordinate system and a second offset compensation of the at least one motion execution unit at the rear end at a corresponding degree of freedom in the second body coordinate system, and drive, based on a preset motion priority and each of the first offset compensations and the second offset compensation, the at least one pair of forceps and a corresponding motion execution unit to automatically implant the electrode.   
     
     
         2 . The implantation system according to  claim 1 , wherein the input unit comprises an operating handle, a user inputs a first driving instruction by the operating handle, and the first driving instruction comprises a motion direction and a motion amount of the at least one pair of forceps in the world coordinate system; the control unit converts the first driving instruction into a second driving instruction; the second driving instruction comprises the first offset compensations of the at least one pair of forceps and the at least one motion execution unit at the front end at the corresponding degree of freedom in the first body coordinate system; the second driving instruction further comprises the second offset compensation of the at least one motion execution unit at the rear end at the corresponding degree of freedom in the second body coordinate system; and based on the second driving instruction and the preset motion priority, the at least one pair of forceps and the corresponding motion execution unit are driven to implement a manual implantation of the electrode. 
     
     
         3 . The implantation system according to  claim 2 , wherein the front end comprises a first rotary motion execution unit comprising a first driving motor, a first holder, and at least one winding arm;
 the first holder is fixedly connected to the first driving motor; the first holder comprises two extension arms disposed opposite to each other, and the electrode implantation device is located between the two extension arms and is hinged to the two extension arms;   the at least one winding arm has a first end hinged to the electrode implantation device and a second end coupled to a first output shaft of the first driving motor; and the second end of the winding arm is driven by the first driving motor to rotate about the first output shaft, such that the at least one pair of forceps rotate about hinge points of the two extension arms and the electrode implantation device.   
     
     
         4 . The implantation system according to  claim 3 , wherein the front end further comprises a second rotary motion execution unit comprising a second driving motor; the first driving motor is coupled to a second output shaft of the second driving motor, and the second output shaft is perpendicular to the first output shaft; and the first rotary motion execution unit and the electrode implantation device are driven by the second driving motor to rotate about a central axis of the second output shaft in an integrated manner. 
     
     
         5 . The implantation system according to  claim 4 , wherein the rear end comprises a first rectilinear motion execution unit comprising a third driving motor, a first gear, a first rectilinear motion mechanism, and a first guide mechanism;
 a first end of the first rectilinear motion mechanism is fixedly connected to the second rotary motion execution unit; the first guide mechanism is sleeved on the first rectilinear motion mechanism and is slidably connected to the first rectilinear motion mechanism, and the first rectilinear motion mechanism is guided by the first guide mechanism to move linearly along a Y-axis direction parallel to a length direction of the second output shaft;   a first gear and guide groove structure extending along the Y-axis direction is formed at a bottom of the first guide mechanism; the third driving motor is fixedly connected to the first rectilinear motion mechanism; the first gear is coupled to an output shaft of the third driving motor and is engaged with the first gear and guide groove structure; and the first gear is driven to rotate, such that the first rectilinear motion mechanism drives the second rotary motion execution unit, the first rotary motion execution unit, and the electrode implantation device to move linearly along the Y-axis direction in an integrated manner.   
     
     
         6 . The implantation system according to  claim 5 , wherein the rear end further comprises a second rectilinear motion execution unit comprising a second rectilinear motion mechanism, a connecting plate, a fourth driving motor, a fourth gear, and a second guide mechanism;
 the connecting plate is fixedly disposed at a top of the first guide mechanism and does not interfere with the first rectilinear motion mechanism; the second rectilinear motion mechanism is fixedly disposed on a top surface of the connecting plate; the second guide mechanism is sleeved on the second rectilinear motion mechanism and is slidably connected to the second rectilinear motion mechanism, and the second rectilinear motion mechanism is guided by the second guide mechanism to move linearly along an X-axis direction perpendicular to the Y-axis direction;   a second gear and guide groove structure extending along a length direction of the X axis is formed on a side of the connecting plate facing away from the electrode implantation device;   the fourth driving motor is fixedly connected to the second guide mechanism; the fourth gear is coupled to an output shaft of the fourth driving motor and is engaged with the second gear and guide groove structure; and the fourth gear is driven to rotate, such that the second rectilinear motion mechanism drives the first rectilinear motion execution unit, the second rotary motion execution unit, the first rotary motion execution unit, and the electrode implantation device to move linearly along the X-axis direction in an integrated manner.   
     
     
         7 . The implantation system according to  claim 6 , wherein the rear end further comprises a third rotary motion execution unit comprising a first arc-shaped seat, a second arc-shaped seat, a third rotary motion mechanism, a fifth driving motor, and a fifth gear;
 the first arc-shaped seat and the second arc-shaped seat are concentric and have a same radius; the first arc-shaped seat is fixedly disposed at a top of the second arc-shaped seat; an inner arc surface of the first arc-shaped seat faces the electrode implantation device; an outer arc surface of the first arc-shaped seat is provided with an arc-shaped gear and guide groove structure extending along a circumferential direction of the first arc-shaped seat; an inner arc surface and an outer arc surface of the second arc-shaped seat are provided with protrusions protruding outwards, and the protrusions extend along a circumferential direction of the second arc-shaped seat;   the third rotary motion mechanism is disposed below the second arc-shaped seat, and a top surface of the third rotary motion mechanism is fixedly provided with a plurality of upright columns located on an inner side and an outer side of the second arc-shaped seat respectively; outer walls of the plurality of upright columns are sunken inwards to form recesses, and the protrusions are partially embedded into the recesses; the protrusions are matched with the recesses, such that the second arc-shaped seat guides the third rotary motion mechanism to rotate about a Z axis being a central axis of the second arc-shaped seat that is perpendicular to the X axis and a Y axis;   the third rotary motion mechanism is further fixedly connected to the second guide mechanism and the fifth driving motor; the fifth gear is coupled to an output shaft of the fifth driving motor and is engaged with the arc-shaped gear and guide groove structure; and the fifth gear is driven to rotate, such that the third rotary motion mechanism drives the second rectilinear motion execution unit, the first rectilinear motion execution unit, the second rotary motion execution unit, the first rotary motion execution unit, and the electrode implantation device to rotate about the Z axis in an integrated manner.   
     
     
         8 . The implantation system according to  claim 7 , wherein the rear end further comprises a third rectilinear motion execution unit comprising a third guide mechanism, a sixth driving motor, a sixth gear, and a third rectilinear motion mechanism;
 the third guide mechanism is fixedly connected to an external mechanism and the sixth driving motor; the third guide mechanism is sleeved on the third rectilinear motion mechanism and is slidably connected to the third rectilinear motion mechanism; the third rectilinear motion mechanism is guided by the third guide mechanism to move linearly along a direction parallel to the Z axis;   the third rectilinear motion mechanism is fixedly connected to the second arc-shaped seat; the third rectilinear motion mechanism further comprises a third gear and guide groove structure extending along a Z-axis direction;   the sixth gear is coupled to an output shaft of the sixth driving motor and is engaged with the third gear and guide groove structure; and the sixth gear is driven by the sixth driving motor to rotate, such that the third rectilinear motion mechanism drives the third rotary motion execution unit, the second rectilinear motion execution unit, the first rectilinear motion execution unit, the second rotary motion execution unit, the first rotary motion execution unit, and the electrode implantation device to move linearly along the Z-axis direction in an integrated manner.   
     
     
         9 . The implantation system according to  claim 8 , wherein the electrode implantation device further comprises at least one first implantation motor, and one of the at least one first implantation motors is corresponding to a pair of forceps of the at least one pair of forceps; the at least one pair of forceps are driven by the at least one first implantation motor to move linearly along a direction perpendicular to the first output shaft;
 the first rotary motion execution unit and the second rotary motion execution unit have a same motion priority;   the first rectilinear motion execution unit and the second rectilinear motion execution unit have a same motion priority; and   motion priorities of the first implantation motor, the first rotary motion execution unit, the first rectilinear motion execution unit, the third rotary motion execution unit, and the third rectilinear motion execution unit decrease progressively in sequence.   
     
     
         10 . A method of implanting a cochlear implant microelectrode, comprising:
 operating in at least one of an automatic implantation mode, or in a manual implantation mode;   in response to operating in the automatic implantation mode,
 inputting a surgical trajectory, wherein the surgical trajectory comprises multiple pieces of target information of a pair of forceps; 
 calculating, based on current target information and next target information of the pair of forceps, first offset compensations of the pair of forceps and a motion execution unit at a front end at a corresponding degree of freedom in a first body coordinate system and a second offset compensation of a motion execution unit at a rear end at a corresponding degree of freedom in a second body coordinate system; and 
 driving, based on a preset motion priority and each of the first offset compensations and the second offset compensation, the pair of forceps and a corresponding motion execution unit to automatically implant an electrode; and 
   in response to operating in the manual implantation mode,
 inputting a first driving instruction by an operating handle, wherein the first driving instruction comprises a motion direction and a motion amount of the pair of forceps in a world coordinate system; 
 converting, by a control unit, the first driving instruction into a second driving instruction, wherein the second driving instruction comprises the first offset compensations of the pair of forceps and the motion execution unit at the front end at the corresponding degree of freedom in the first body coordinate system, and the second driving instruction further comprises the second offset compensation of the motion execution unit at the rear end at the corresponding degree of freedom in the second body coordinate system; and 
 driving, based on the second driving instruction and the preset motion priority, the pair of forceps and the corresponding motion execution unit to implement a manual implantation of the electrode.